I always remembered it being called Aurabesh, so I looked it up and found Aurabesh, Aurebesh and the Aurekbesh/Aurek Besh/Aurek-Besh that everyone here is saying. Ha! :p
I honestly couldn't remember which it was, so I googled 'star wars alphabet' and wrote down the first hit- in this case, Aurek-Besh. Lol.
ErikStormtrooper has the Engli-Besh font - normal English characters drawn in AurekBesh style. Maybe that would be a good way to do the dialogue without resorting to subtitles?
I was under the impression that we don't actually know what Artoo is saying, so although we would now see the letters, it would still be on-screen only, not subtitles. We would have to do the translating separately, which would be fun. :P